integ-action-base.hpp

// BSD 3-Clause License
//
// Copyright (C) 2021-2025, LAAS-CNRS, University of Edinburgh,
//                          University of Oxford, University of Trento,
//                          Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_INTEGRATED_ACTION_BASE_HPP_
#define CROCODDYL_CORE_INTEGRATED_ACTION_BASE_HPP_
 
#include "crocoddyl/core/action-base.hpp"
#include "crocoddyl/core/control-base.hpp"
#include "crocoddyl/core/diff-action-base.hpp"
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/core/utils/deprecate.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class IntegratedActionModelAbstractTpl
    : public ActionModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ActionModelAbstractTpl<Scalar> Base;
  typedef IntegratedActionDataAbstractTpl<Scalar> Data;
  typedef ActionDataAbstractTpl<Scalar> ActionDataAbstract;
  typedef DifferentialActionModelAbstractTpl<Scalar>
      DifferentialActionModelAbstract;
  typedef ControlParametrizationModelAbstractTpl<Scalar>
      ControlParametrizationModelAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  IntegratedActionModelAbstractTpl(
      std::shared_ptr<DifferentialActionModelAbstract> model,
      std::shared_ptr<ControlParametrizationModelAbstract> control,
      const Scalar time_step = Scalar(1e-3),
      const bool with_cost_residual = true);
 
  IntegratedActionModelAbstractTpl(
      std::shared_ptr<DifferentialActionModelAbstract> model,
      const Scalar time_step = Scalar(1e-3),
      const bool with_cost_residual = true);
  virtual ~IntegratedActionModelAbstractTpl() = default;
 
  virtual std::shared_ptr<ActionDataAbstract> createData() override;
 
  virtual std::size_t get_ng() const override;
 
  virtual std::size_t get_nh() const override;
 
  virtual std::size_t get_ng_T() const override;
 
  virtual std::size_t get_nh_T() const override;
 
  virtual const VectorXs& get_g_lb() const override;
 
  virtual const VectorXs& get_g_ub() const override;
 
  const std::shared_ptr<DifferentialActionModelAbstract>& get_differential()
      const;
 
  const std::shared_ptr<ControlParametrizationModelAbstract>& get_control()
      const;
 
  const Scalar get_dt() const;
 
  void set_dt(const Scalar dt);
 
  DEPRECATED("The DifferentialActionModel should be set at construction time",
             void set_differential(
                 std::shared_ptr<DifferentialActionModelAbstract> model));
 
 protected:
  using Base::has_control_limits_;  
  using Base::nr_;                  
  using Base::nu_;                  
  using Base::state_;               
  using Base::u_lb_;                
  using Base::u_ub_;                
 
  IntegratedActionModelAbstractTpl()
      : differential_(nullptr),
        control_(nullptr),
        time_step_(0),
        time_step2_(0),
        with_cost_residual_(false) {}
  void init();
 
  std::shared_ptr<DifferentialActionModelAbstract>
      differential_;  
  std::shared_ptr<ControlParametrizationModelAbstract>
      control_;  
 
  Scalar time_step_;   
  Scalar time_step2_;  
  bool
      with_cost_residual_;  
};
 
template <typename _Scalar>
struct IntegratedActionDataAbstractTpl : public ActionDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ActionDataAbstractTpl<Scalar> Base;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  template <template <typename Scalar> class Model>
  explicit IntegratedActionDataAbstractTpl(Model<Scalar>* const model)
      : Base(model) {}
  virtual ~IntegratedActionDataAbstractTpl() = default;
 
  using Base::cost;
  using Base::Fu;
  using Base::Fx;
  using Base::Lu;
  using Base::Luu;
  using Base::Lx;
  using Base::Lxu;
  using Base::Lxx;
  using Base::r;
  using Base::xnext;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/integ-action-base.hxx"
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(
    crocoddyl::IntegratedActionModelAbstractTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
    crocoddyl::IntegratedActionDataAbstractTpl)
 
#endif  // CROCODDYL_CORE_INTEGRATED_ACTION_BASE_HPP_